#!/bin/bash

echo "=== 启动 RealSense D435i 相机 (采用验证过的配置) ==="

source /opt/ros/humble/setup.bash

ros2 launch realsense2_camera rs_launch.py \
    pointcloud.enable:=true \
    align_depth.enable:=true \
    enable_color:=true \
    enable_depth:=true \
    depth_module.depth_profile:=848x480x30 \
    rgb_camera.color_profile:=1280x720x30